Autonomous Vehicle Security

ABSTRACT

Various implementations include unmanned autonomous vehicles (UAVs) and methods for providing security for a UAV. In various implementations, a processor of the UAV may receive sensor data from a plurality of UAV sensors about an object in contact with the UAV. The processor may determine an authorization threshold based on the received sensor data. The processor may determine whether the object is authorized based on the received sensor data and the determined authorization threshold.

BACKGROUND

Autonomous vehicles are vehicles capable of sensing their environment innavigating without a human operator. Autonomous vehicles can detectinformation about their location and surroundings (for example, usingradar, lidar, GPS, file odometers, accelerometers, cameras, and othersimilar devices), and may include control systems to interpret sensoryinformation and to identify navigation paths. Increasingly, autonomousvehicles are used to transport people and to convey goods.

However, autonomous vehicles may be more vulnerable to certain securityrisks because autonomous vehicles may be unable to assess certainthreats and take appropriate actions. For example, an autonomous vehiclemay be compromised to transport contraband or stolen goods. As anotherexample, an autonomous vehicle might be used to deliver an explosive orother hazardous material.

SUMMARY

Various embodiments and implementations include methods implemented onan unmanned autonomous vehicle (UAV) for providing security for the UAV.Various embodiments and implementations may include receiving sensordata from a plurality of UAV sensors about an object in contact with theUAV, determining an authorization threshold based on the received sensordata, and determining whether the object is authorized based on thereceived sensor data and the determined authorization threshold.

In some implementations, determining the authorization threshold basedon the received sensor data may include determining whether the objectis a recognized object, and determining the authorization thresholdbased on whether the object is a recognized object. In someimplementations, determining the authorization threshold based on thereceived sensor data may include determining whether the object is apreviously authorized object, and determining the authorizationthreshold based on whether the object is a previously authorized object.

In some implementations, determining the authorization threshold basedon the received sensor data may include determining whether a person inthe UAV is a known person, and determining the authorization thresholdbased on whether the person in the UAV is a known person. In someimplementations, determining the authorization threshold based on thereceived sensor data may include determining whether a person in the UAVis an alive, willing, and conscious person, and determining theauthorization threshold based on whether the person in the UAV is analive, willing, and conscious person.

In some implementations, determining the authorization threshold basedon the received sensor data may include determining whether a person inthe UAV is in an unusual position, and determining the authorizationthreshold based on whether the person in the UAV is in an unusualposition. In some implementations, determining the authorizationthreshold based on the received sensor data may include determiningwhether the UAV is traveling a known path, and determining theauthorization threshold based on whether the UAV is traveling the knownpath. In some implementations, determining the authorization thresholdbased on the received sensor data may include determining whether theUAV deviates from a path, and determining the authorization thresholdbased on whether the UAV deviates from the path.

Some implementations may further include storing information about theobject in response to determining that the object is authorized. Someimplementations may further include generating an indication that theobject is unauthorized in response to determining that the object is notauthorized. Some implementations may further include determining anaction to perform when the object is not authorized, and performing thedetermined action. Some implementations may further include determiningwhether an authorization of an unauthorized object is received, anddetermining the action to perform in response to determining thatauthorization of the unauthorized object is not received.

Further embodiments include a UAV including a plurality of sensors and aprocessor coupled to the plurality of sensors and configured withprocessor-executable instructions to perform operations of theembodiment methods summarized above. Further embodiments include anon-transitory processor-readable storage medium having stored thereonprocessor-executable software instructions configured to cause aprocessor to perform operations of the embodiment methods summarizedabove. Further embodiments include a UAV that includes means forperforming functions of the embodiment methods summarized above.

BRIEF DESCRIPTION OF THE DRAWINGS

The accompanying drawings, which are incorporated herein and constitutepart of this specification, illustrate exemplary aspects, and togetherwith the general description given above and the detailed descriptiongiven below, serve to explain the features of the various aspects.

FIGS. 1A and 1B are component block diagrams illustrating a UAV suitablefor implementing various implementations.

FIG. 2 is a component block diagram illustrating components of a UAVsuitable for implementing various implementations.

FIG. 3 is a process flow diagram illustrating an implementation methodof providing security for an unmanned autonomous vehicle (UAV)

FIG. 4 is a process flow diagram illustrating an implementation methodof providing security for a UAV.

DETAILED DESCRIPTION

Various aspects will be described in detail with reference to theaccompanying drawings. Wherever possible, the same reference numberswill be used throughout the drawings to refer to the same or like parts.References made to particular examples and implementations are forillustrative purposes, and are not intended to limit the scope of thevarious aspects or the claims.

Various embodiments and implementations include methods and systems thatimplement the methods of providing security for a UAV. Variousimplementations may improve the operation of a UAV by providing securityto the UAV related to the detection and evaluation of objects that maybe placed in or on the UAV.

As used herein, the term “UAV” refers to one of various types ofunmanned autonomous vehicle. Any of a variety of vehicles may beconfigured to operate autonomously and work with the variousimplementations, including aerial vehicles, land vehicles, waterbornevehicles, and space vehicles. Various implementations are illustratedwith reference to an unmanned aerial vehicle as an example of a type ofUAV that may benefit from magnetic field navigation. A UAV may includean onboard computing device configured to operate the UAV without remoteoperating instructions (i.e., autonomously), such as from a humanoperator or remote computing device. Alternatively, the onboardcomputing device may be configured to maneuver and/or operate the UAVwith some remote operating instruction or updates to instructions storedin a memory of the onboard computing device.

The terms “component,” “system,” “unit,” and the like include acomputer-related entity, such as, but not limited to, hardware,firmware, a combination of hardware and software, software, or softwarein execution, which are configured to perform particular operations orfunctions. For example, a component may be, but is not limited to, aprocess running on a processor, a processor, an object, an executable, athread of execution, a program, and/or a computer. By way ofillustration, both an application running on a communication device andthe communication device may be referred to as a component. One or morecomponents may reside within a process and/or thread of execution and acomponent may be localized on one processor or core and/or distributedbetween two or more processors or cores. In addition, these componentsmay execute from various non-transitory computer readable media havingvarious instructions and/or data structures stored thereon. Componentsmay communicate by way of local and/or remote processes, function orprocedure calls, electronic signals, data packets, memory read/writes,and other known computer, processor, and/or process relatedcommunication methodologies.

UAVs are increasingly used to transport people and to convey goods. UAVsmay be more vulnerable to certain security risks because of theirgeneral inability to assess certain threats and take appropriate action.For example, a UAV may be used to transport contraband or stolen goodsas well as hazardous materials of nearly any type. However, not allgoods are undesirable, and UAVs may be used to convey legitimate ordesired goods, including luggage, bookbags, backpacks, sports gear,music equipment, and other similar goods. Further, the desired goods maybelong to a vehicle owner, or the owner's family or friends.

Various implementations provide systems and methods of providingsecurity for UAV. In some implementations, a processor of the UAV mayreceive sensor data from a plurality of UAV sensors of an object incontact with the UAV. The object may be in the UAV, on the UAV, underthe UAV, attached to the UAV, in a cargo area or passenger area of theUAV, or otherwise detectable or able to be sensed by a sensor of theUAV. In some implementations, the processor of the UAV may determine anauthorization threshold for the object based on the received sensordata. The processor of the UAV may determine whether the object isauthorized based on the received sensor data and the determinedauthorization threshold.

In various implementations, the processor of the UAV may determine theauthorization threshold based on one or more criteria. For example,based on one or more determinations based on the received sensor data,the processor of the UAV may determine (for example, calculate,increase, or decrease) the authorization threshold. In someimplementations, the processor of the UAV may determine whether theobject is a recognized object, such as an object that the processor haspreviously detected, or which previously has been in contact with theUAV. In some implementations, the processor of the UAV may determinewhether the object is previously authorized.

In some implementations, the processor of the UAV may determine whethera person in the UAV is known to the processor of the UAV. In someimplementations, the processor of the UAV may determine whether thedetected person is alive, willing, and/or conscious. In someimplementations, the processor of the UAV may determine whether a personis in an unusual position or location in or on the UAV.

In some implementations, the processor of the UAV may determine whetherthe UAV is traveling a known path. In some implementations, theprocessor of the UAV may determine whether the UAV deviates from theknown path.

Based on one or more determinations based on the received sensor data,the processor of the UAV may determine the authorization threshold.

In some implementations, in response to determining that the object isauthorized, the processor of the UAV may store information about theauthorized object in a memory of the UAV.

In some implementations, in response to determining that the object isnot authorized, the processor of the UAV may determine an action toperform, and may perform the determined action. In some implementations,in response to determining that the object is not authorized, theprocessor of the UAV may generate an indication that the object isunauthorized. In some implementations, the processor of the UAV may alsodetermine whether an authorization of the object is received (forexample, in response to the indication that the object is unauthorized).

In response to determining that the authorization of the object isreceived, the processor of the UAV may store information about theauthorized object in a memory of the UAV. In response to determiningthat the authorization of the object is not received, the processor ofthe UAV may determine the action to perform.

Various implementations may be implemented within a variety of UAVs, anexample UAV 100 of which is illustrated in FIGS. 1A and 1B. Withreference to FIGS. 1A and 1B, the UAV 100 may include a plurality ofsensors 102-140 disposed in or on the UAV. Each of the sensors 102-140may be in wired or wireless communication with a processor 150, as wellas with each other. The sensors 102-140 may include one or more of awide variety of sensors capable of detecting a variety of information,such as cameras (e.g., 122, 136), optical sensors, photo optic sensors,pressure sensors (e.g., 114, 120), humidity sensors, temperature sensors(e.g., 102), position sensors (e.g., 108), acceleration sensors (e.g.,138), vibration sensors, gyroscopes (e.g., 140), gravimeters, impactsensors (e.g., 150), force meters, stress meters, strain sensors, fluidsensors, chemical sensors, gas content analyzers, pH sensors, radiationsensors, Geiger counters, neutron detectors, biological materialsensors, radar (e.g., 104), lidar, IR sensors, ultrasonic sensors,microphones (e.g., 124, 134), occupancy sensors (e.g., 112, 116, 118,126, 128), proximity sensors, motion sensors, and other sensors. Thesensors 102-140 may provide sensor data to the processor 150. In variousembodiments, the sensors 102-140 may provide a variety of sensor dataregarding objects and people in an on the UAV to the processor 150.

FIG. 2 is a component block diagram illustrating components 200 of theUAV 100 (e.g., FIG. 1) according to various implementations. Withreference to FIGS. 1A, 1B, and 2, the components 200 may include acontrol unit 202, which may include various circuits and devices used tocontrol the operation of the UAV 100. The components 200 may alsoinclude drive control components 214, navigation components 216, and oneor more sensors 218.

The control unit 202 may include a processor 204 (which may be similarto the processor 150) configured with processor-executable instructionsto control maneuvering, navigation, and other operations of the UAV 100,including operations of various implementations. The processor 204 maycommunicate with a memory 206. The control unit 202 may include an inputmodule 208, an output module 210, and a radio module 212.

The radio module 212 may be configured for wireless communication. Theradio module 212 may exchange signals 252 (e.g., command signals forcontrolling maneuvering, signals from navigation facilities, etc.) witha network transceiver 250 , and may provide the signals 252 to theprocessor 204 and/or the navigation unit 216. In some implementations,the radio module 212 may enable the UAV 100 to communicate with awireless communication device 260 through a wireless communication link262. The wireless communication link 262 may be a bidirectional orunidirectional communication link, and may use one or more communicationprotocols.

The input module 208 may receive sensor data from one or more UAVsensors 218 as well as electronic signals from other components,including the drive control components 214 and the navigation components216. The output module 210 may be used to communicate with or activatecomponents, including the drive control components 214, the navigationcomponents 216, and the sensor(s) 218.

The control unit 202 may be coupled to the drive control components 214to control physical elements (for example, an engine, motors, throttles,steering elements, flight control elements, braking or decelerationelements, and the like) of the UAV 100 related to maneuvering andnavigation of the UAV. The drive control components 214 may also includecomponents that may control other devices of the UAV, includingenvironmental controls (e.g., air conditioning and heating), externaland/or interior lighting, interior and/or exterior informationaldisplays (which may include a display screen or other devices to displayinformation), and other similar devices.

The control unit 202 may be coupled to the navigation components 216,and may receive data from the navigation components 216 and use suchdata in order to determine the present position and orientation of theUAV 100, as well as an appropriate course toward a destination. Invarious implementations, the navigation components 216 may include aglobal navigation satellite system (GNSS) receiver system (e.g., one ormore Global Positioning System (GPS) receivers) enabling the UAV 100 tonavigate using GNSS signals. Alternatively or in addition, thenavigation components 216 may include radio navigation receivers forreceiving navigation beacons or other signals from radio nodes, such asnavigation beacons (e.g., very high frequency (VHF) Omni DirectionalRadio Range (VOR) beacons), Wi-Fi access points, cellular network sites,radio station, remote computing devices, other UAVs, etc. Throughcontrol of the drive control elements 214, the processor 204 may controlthe UAV 100 to navigate and maneuver. The processor 204 and/or thenavigation components 216 may be configured to communicate with a serverthrough a wireless connection (e.g., a cellular data network) to receivecommands to control maneuvering, receive data useful in navigation,provide real-time position reports, and assess other data.

The control unit 202 may be coupled to one or more sensors 218. Thesensor(s) 218 may be similar to the sensors 102-140, and may provide avariety of data to the processor 204.

While various components 200 are illustrated or described as separatecomponents, some or all of the components (e.g., the processor 204, thememory 206, the input module 208, the output module 210, and the radiomodule 212) may be integrated together in a single device or module,such as a system-on-chip module.

FIG. 3 illustrates a method 300 of providing security for a UAVaccording to some implementations. With reference to FIGS. 1-3, themethod 300 may be implemented by a UAV (e.g., the UAV 100), such asunder the control of a processor (e.g., the processor 204) of the UAV.

In block 302, the processor may receive sensor data from UAV sensors. Insome implementations, the sensor data may be about an object in contactwith the UAV. The sensors may include, for example, any or all of thesensors 102-140 and 218.

In determination block 304, the processor may determine whether theprocessor detects an object in contact with the UAV. The object may bein the UAV, on the UAV, under the UAV, attached to the UAV, in a cargoarea or of the UAV, or otherwise detectable or sensible by a sensor ofthe UAV.

In some implementations, the processor may determine whether theprocessor detects the object in contact with the UAV based on thereceived sensor data. For example, the sensor data may indicateadditional weight imparted by the presence of the object in or on theUAV. The sensor data may also indicate the existence of the object orthe cargo area of the UAV. The sensor data may also indicate anattachment of the object to, for example, a cargo carrier, a trailerhitch, and elements of the UAV adapted to carry an object, an attachmentpoint of the UAV, or another element of the UAV. Sensor data indicatingthe presence of the object may include a wide array of different typesof data, such as sensors 102-140 may provide to the processor.

In response to determining that the processor does not detect an objectin contact with the UAV (i.e., determination block 304=“No”), theprocessor may again receive UAV sensor data in block 302.

In response to determining that the processor detects an object incontact with the UAV (i.e., determination block 304=“Yes”), theprocessor may determine an authorization threshold in block 306. Invarious implementations, the processor may determine the authorizationthreshold based on one or more criteria. For example, based on one ormore determinations based on the received sensor data, the processor ofthe UAV may calculate the authorization threshold. In someimplementations, the processor may use a default or baselineauthorization threshold. In some implementations, the processor mayraise or lower the baseline authorization threshold based on one or moredeterminations using the received sensor data.

In block 308, the processor may compare the sensor data to theauthorization threshold.

In determination block 310, the processor may determine whether theobject is authorized. In various embodiments, the processor maydetermine whether the object is authorized based on the comparison ofthe sensor data to the authorization threshold.

In response to determining that the object is authorized (i.e.,determination block 310=“Yes”), the processor may store informationabout the authorized object in block 312. In some implementations, theprocessor may store the information about the authorized object in amemory of the UAV, such as the memory 206. The information may be storedin a data structure, such as database or another similar data structure.In some implementations, the stored information may include an objectidentifier. In some implementations, the stored information may includean authorization level associated with the authorized object. Theprocessor may then receive UAV sensor data in block 302

In response to determining that the object is not authorized (i.e.,determination block 310=“No”), the processor may generate an indicationthat the object is unauthorized in block 314. For example, the processormay generate an indication that an unauthorized object has beendetected. In some implementations, the processor may present theindication using a visual indicator, an audible indicator, a tactileindicator, or another such indicator. In some implementations, theprocessor may transmit the indication to, for example, a communicationnetwork (for example, via the network transceiver 250, or to a wirelesscommunication device (for example, the wireless communication device 260(for example, via the radio module 212).

In some implementations, the processor may provide an opportunity forauthorization of an unauthorized object. For example, the processor maypresent a query (such as a visual query or an audible query) requestingan indication of whether the detected object is authorized. In someimplementations, the query may be presented inside the UAV. In someimplementations, the query may be presented outside the UAV (forexample, a siren, an alarm, flashing lights, an indication on a display,or another indication). In some implementations, the processor maytransmit the query to, for example, the communication network or thewireless communication device. In some implementations, the processormay initiate a timer that counts a time period in which theauthorization of the object must be received, else the processor maydetermine that the object is indeed unauthorized. In someimplementations, the processor may require an authorization codetogether with the authorization (such as a password, a personalidentification number (PIN), or another such authorization code) toverify the received authorization.

In determination block 316, the processor may determine whether theprocessor receives authorization of the object.

In response to determining that the processor has received authorizationof the object (i.e., determination block 316=“Yes”), the processor maystore information about the authorized object in block 312. Theprocessor may then receive UAV sensor data in block 302.

In response to determining that the processor has not receivedauthorization of the object (i.e., determination block 316=“No”), theprocessor may determine an action to perform in block 318. In someimplementations, the processor may determine one or more actions toperform based on the received sensor data. In some implementations,based on the sensor data, the processor may determine an element oraspect of the unauthorized object, and may determine an action toperform based on the determined element or aspect. For example, theprocessor may determine that the unauthorized object includes anexplosive chemical or compound, radiological material, toxic chemical,biohazardous material, or other hazardous materials. As another example,the processor may determine that the unauthorized object includesillegal or contraband goods. As another example, processor may determinethat the unauthorized object include stolen goods.

For example, the processor may generate a visual, audible, tactile, etc.alert. In some implementations, the alert may be presented inside and/oroutside the UAV. In some implementations, the processor may stop orprevent travel of the UAV. For example, the processor may land an aerialUAV, navigate an automotive UAV to the side of a road, or throttle downa watercraft UAV. In some implementations, the processor may reject theobject, such as by preventing travel until the object is removed, or bypresenting an alarm until the object is removed. In someimplementations, the processor may send a message to the communicationnetwork, or to the wireless communication device, for example, to notifylaw enforcement, a fire department, or other authorities.

In some implementations, the processor may block or prevent furtheraccess to the object to secure the object to the UAV. For example, theprocessor may actuate a lock to a trunk or other cargo area, or preventthe release of a cargo holder, carrier, trailer hitch, etc., until arelease code is provided. In some implementations, the processor mayalter a path of the UAV. For example, the processor may navigate the UAVto the nearest police or other law enforcement location, to the closestfire station, or similar location.

In some implementations, the processor may broadcast warning related tothe unauthorized object. For example, the processor may provide a visualand/or audible warning external to the UAV indicating the nature of theunauthorized object (for example that the unauthorized object is stolen,contraband, radioactive, etc.). As another example, the processor maytransmit the warning to the communication network and/or the mobilecommunication device.

In block 320, the processor may perform the determined action. In someembodiments, the processor may perform two or more actions, withoutlimitation. Then, the processor may again receive UAV sensor data inblock 302.

FIG. 4 illustrates a method 400 of providing security for a UAVaccording to some implementations. The method 400 illustrates an exampleof operations that may be performed in block 306 of the method 300 asdescribed with reference to FIG. 3 according to some implementations.With reference to FIGS. 1-4, the method 400 may be implemented by a UAV(e.g., the UAV 100), such as under the control of a processor (e.g., theprocessor 204) of the UAV. The order of operations performed in blocks402-442 is merely illustrative, and the operations of blocks 402-442 maybe performed in any order in various implementations.

As described above with regard to the method 300 (FIG. 3), in responseto determining that the processor detects an object in contact with theUAV (i.e., determination block 304=“Yes”), the processor may determinean authorization threshold in block 306. In various implementations, theprocessor may determine the authorization threshold based on the UAVsensor data. In determining the authorization threshold based on the UAVsensor data, the processor may perform one or more determinations aboutthe sensor data that may indicate information about the object and/orpeople in or on the UAV that may enable the processor to characterizethe sensor data according to variety of criteria. In variousembodiments, the processor may use the characterize sensor data todetermine the authorization threshold. Some examples of suchdetermination operations are illustrated in the method 400. In variousimplementations, the processor may perform one or more of operations ofblocks 402-442 to make one or more determinations about the UAV sensordata. In some embodiments, the result of one or more of thedeterminations in blocks 402-442 may be sufficiently definitive that theprocessor may proceed from a result to determine the authorizationthreshold in block 444.

For example, the processor may determine whether the object isrecognized in determination block 402. In some implementations, theprocessor may determine whether the object is a recognized object, suchas an object that the processor has previously detected. In someimplementations, the processor may determine whether the objectpreviously has been in contact with the UAV. For example, the processormay recognize the object as a purse, briefcase, a book bag, a golf bag,athletic equipment, or another object that has previously been incontact with the UAV. The processor may recognize the object based onsensor data from one or more sensors of the UAV (e.g., the sensors102-140 and 218). The processor may also recognize the object based on acomparison of the data from the one or more sensors with a datastructure stored in a memory of the UAV (e.g., the memory 206). Forexample, the data structure may include an identification of apreviously detected object and sensor data associated with thepreviously detected object. The data structure may also include apattern of sensor data that may enable the processor to recognize anobject. Thus, in some implementations, the processor may determine thatan object is a recognized object because the processor has previouslydetected the object and/or because the processor is able to identify theobject based on sensor data from one or more sensors of the UAV.

In response to determining that the object is recognized (i.e.,determination block 402=“Yes”), the processor may generate an indicationthat the object is recognized in block 404. In some implementations, theprocessor may also generate information identifying the object. In someimplementations and/or cases, the processor may determine that therecognition of the object is sufficiently close or strong (e.g., apercentage match or metric relating the degree of matching) that theauthorization threshold may be determined in block 444 on the basis ofthe object recognition alone.

For example, if the processor determines that the object matches acommonly detected object (e.g., a book bag, a purse, briefcase, etc.)The authorization threshold may be determined in block 444 as arelatively low threshold that is satisfied by the recognized object. Asanother example, the processor may determine that the object isrecognized, and that the object is forbidden, illegal, contraband,hazardous, or similarly undesirable. The authorization threshold maythen be determined in block 444 as a relatively high threshold that isnot satisfied by the recognized object.

In response to determining that the object is not recognized (i.e.,determination block 402=“No”), the processor may generate an indicationthat the object is not recognized in block 406. In some implementationsand/or cases, the processor may determine that the lack of recognitionis sufficient (i.e., is sufficiently different from a known object) thatthe processor may determine a relatively high authorization threshold inblock 444 without further evaluations. In some implementations, theprocessor may use a determination that the object is recognized as afactor that may lower the authorization threshold. In someimplementations, the processor may use a determination that the objectis not recognized as a factor that may raise the authorizationthreshold.

In determination block 408, the processor may determine whether theobject was previously authorized. For example, the processor maydetermine whether the object is not merely recognized but is alsoassociated with a previous authorization. In some implementations, theprocessor may determine a degree of any previous authorizations. Forexample, the processor may determine a timing of the previousauthorization (e.g., within a previous day, week, month, year, etc.). Asanother example, the processor may determine a number and/or frequencyof previous authorizations, if any. As another example, the processormay determine whether one or more previous authorizations were providedby a known or authorized person (e.g., an owner or frequent authorizeduser of the UAV).

In response to determining that the object was previously authorized(i.e., determination block 408=“Yes”), the processor may generate anindication that the object is previously authorized in block 410. Insome implementations and/or cases, the processor may determine that theprevious authorization is, for example, sufficiently recent,sufficiently frequent, sufficiently numerous, or was provided by anunauthorized person, that the authorization threshold may be determinedin block 444 on the basis of the previous authorization alone.

In response to determining that the object was not previously authorized(i.e., determination block 408=“No”), the processor may generate anappropriate indication in block 412. In some implementations and/orcases, the processor may determine that the lack of previousauthorization is sufficient that the authorization threshold may bedetermined in block 444 based on the lack of previous authorizationalone. In some implementations, the processor may use a determinationthat the object was previously authorized as a factor that may lower theauthorization threshold. In some implementations, the processor may usea determination that the object was not previously authorized as afactor that may raise the authorization threshold.

In determination block 414, the processor may determine whether a personin the UAV is known. For example, the processor may determine whetherthe person is an authorized driver or passenger of the UAV, an owner ofthe UAV, a family member, a frequent guest, or a person who hasotherwise been made known to the processor. In some implementations, theprocessor may determine whether the person in the UAV is known usingsensor data and performing, for example, biometric recognition such asfacial recognition, fingerprint recognition, iris or retina recognition,or similar biometric authentication. In some implementations, theprocessor may recognize an electronic token, tag, or another device thatindicates to the processor a known person.

In response to determining that the person in the UAV is known (i.e.,determination block 414=“Yes”), the processor may generate an indicationthat the person is known in block 416. In some implementations, theknown person may be someone permitted in the UAV. In someimplementations, the known person may be someone forbidden from being inthe UAV. In some implementations and/or cases, the processor maydetermine that the presence of the known person in the UAV is sufficientthat the authorization threshold may be determined in block 444 based onthe presence of the known person alone.

In response to determining that the person in the UAV is not known(i.e., determination block 414=“No”), the processor may generate anappropriate indication in block 418. In some implementations, theabsence of the known person may include the presence of an unknownperson. In some implementations, the absence of the known person mayinclude no person being detected in the UAV. In some implementationsand/or cases, the processor may determine that the presence of anunknown person in the UAV is not known is sufficient that theauthorization threshold may be determined block 444 based on suchdetermination alone. In some implementations, the processor may use adetermination that the person in the UAV is known as a factor that maylower the authorization threshold. In some implementations, theprocessor may use a determination that the person in the UAV is notknown as a factor that may raise the authorization threshold.

In determination block 420, the processor may determine whether a personpresent in the UAV is alive, willing, and/or conscious. The processormay use a variety of sensor data to determine behaviors and/or data thatmay tend to indicate whether a person is alive, willing, and/orconscious. For example, the processor may measure seat pressure overtime to detect, for example, a shifting in a seat position (or lackthereof). As another example, the processor may use camera data for facerecognition and paste action recognition, such as eye blinks, changes inexpression, and the like. As another example, the processor may 3-Dcamera data to distinguish between an actual person and a photograph orother two-dimensional representation of a person. As another example,the processor may use camera data to analyze body poses over time, whichmay indicate freedom (or lack of freedom) of movement. As anotherexample, the processor may measure skin conductance, body motion, and/orheart rate estimation to detect a person's emotional state. As anotherexample, the processor may use microphone data for speech detection,speech pattern detection, for stress analysis, and the like.

In response to determining that a person is alive, willing, andconscious (i.e., determination block 420=“Yes”), the processor maygenerate an indication that the person is alive, willing, and consciousin block 422. In some implementations and/or cases, the processor maydetermine that the determination of the alive, willing, and consciousperson is sufficient that the authorization threshold may be determinedin block 444 based on the presence of the alive, willing, and consciousperson alone, particularly in combination with other determinations thathave been made.

In response to determining that the person is not one of alive, willing,or conscious (i.e., determination block 420=“No”), the processor maygenerate an appropriate indication in block 424. In someimplementations, the indication that a person in the UAV is one or moreof not alive, not willing, or not conscious is be sufficient that theauthorization threshold may be determined block 444 based on suchdetermination alone, particularly in combination with otherdeterminations that have been made. In some implementations, theprocessor may use a determination that the person is alive, willing, andconscious as a factor that may lower the authorization threshold. Insome implementations, the processor may use a determination that theperson is not one of alive, willing, or conscious as a factor that mayraise the authorization threshold.

In determination block 426, the processor may determine whether a personis in an unusual position. In some implementations, the unusual positionmay include a person not a typical posture for driving or riding in theUAV, such as prone, lying across seats, slumped over, and the like. Insome implementations, the unusual position may include a person being inan unusual location of the UAV, for example in the trunk or anothercargo area.

In response to determining that a person is in an unusual position(i.e., determination block 426=“Yes”), the processor may generate anindication that the person is in an unusual position in block 428. Insome implementations, the indication that the person is in an unusualposition may be sufficient that the authorization threshold may bedetermined block 444 based on such determination alone, particularly incombination with other determinations that have been made.

In response to determining that a person is not in an unusual position(i.e., determination block 426=“No”), the processor may generate anindication that the person is in a typical position (i.e., not in anunusual position) in block 430. In some implementations, the indicationthat the person is not in an unusual position may be sufficient that theauthorization threshold may be determined block 444 based on suchdetermination alone, particularly in combination with otherdeterminations that have been made. In some implementations, theprocessor may use a determination that the person is in an unusualposition as a factor that may lower the authorization threshold. In someimplementations, the processor may use a determination that the personis not in an unusual position as a factor that may raise theauthorization threshold.

In determination block 432, the processor may determine whether the UAVis traveling a known path. In some implementations, the processor maycontinuously authenticate the path traveled by the UAV. For example, theprocessor may use positioning system, accelerometer data, odometer data,or other sensor inputs to continuously authenticate a path traveled bythe UAV. The path may include a destination that is input to theprocessor, or a continuously updated route toward a defined location.The path may also include a known or commonly traveled path, such to ahome, a work location, a school location, common errands, and the like.

In response to determining that the UAV is traveling a known path (i.e.,determination block 432=“Yes”), the processor may generate an indicationthat the UAV is traveling the known path in block 434. In someimplementations, the indication that the UAV is traveling in half may besufficient that the authorization threshold may be determined block 444based on such determination alone.

In response to determining that the UAV is not traveling a known path(i.e., determination block 432=“No”), the processor may generate anindication that the UAV is not traveling a known path (e.g., an unknownpath) in block 436. In some implementation, an unknown path may includea path that the UAV has not previously traveled. In someimplementations, the unknown path may include a path that is not anauthorized or pre-approved path (e.g., from among a set of authorized orpre-approved paths). In some implementations, a known path may include apath for which the UAV is authorized (e.g., based on a previous and/orcontemporaneous input). In some implementations, a known path mayinclude a path that the UAV is prohibited from traveling. In someimplementations, the indication that the UAV is not traveling a knownpath (i.e., the UAV is traveling an unknown path) may be sufficient thatthe authorization threshold may be determined block 444 based on suchdetermination alone, particularly in combination with otherdeterminations that have been made available.

In some implementations, the processor may use a determination that theUAV is traveling a known path as a factor that may lower theauthorization threshold. In some implementations, the processor may usea determination that the UAV is not traveling a known path as a factorthat may raise the authorization threshold. In some implementations, thefactor may also depend on the degree of the determination. For example,the processor may increase the authorization threshold to a first extentbased on a determination that the UAV path has not been previouslytraveled, and the processor may increase the authorization threshold toa greater second extent based on a determination that the UAV path isnot a pre-approved path. Further, the processor may increase theauthorization threshold to a yet greater third extent based on adetermination that the UAV path is a prohibited path. As anotherexample, the processor may decrease the authorization threshold by afirst extent based on a determination that the UAV path is known, andmay decrease the authorization threshold by a second greater extentbased on the determination that the UAV path is known and authorized forthe UAV.

In determination block 438, the processor may determine whether the UAVdeviates from a path. In some implementations, the processor maydetermine whether the UAV deviates from a selected path or path that isinput by user. In some implementations, the processor may determinewhether the UAV deviates from a known or commonly traveled path (e.g.home, work, school, known shops, etc.). In some cases, the UAV maydeviate from a path, for example, to accommodate a detour, or to avoidtraffic congestion or an accident. In some cases, the UAV may deviatefrom a path because the UAV has been compromised in some way (such asbeing stolen, or be subject to a software hack). In someimplementations, the processor may determine whether the UAV deviatesfrom an unknown path (e.g., a path that has never been traveled before,and that the UAV also deviates from). In some embodiments, determiningwhether the UAV deviates from the path may include determining whether adeviation is authorized (e.g., to avoid traffic congestion) orunauthorized (e.g., not approved by a passenger).

In some implementations, the processor may use a determination that theUAV does not deviate from the path as a factor that may lower theauthorization threshold. In some implementations, the processor may usea determination that the UAV deviates from the path as a factor that mayraise the authorization threshold. In some implementations, the factormay also depend on the degree of the determination. For example, thedevice processor may increase the authorization threshold to a firstextent based on a determination that the UAV deviates from the path,e.g. to accommodate a detour to avoid traffic congestion, and mayincrease the authorization threshold to a second greater extent based ona determination that the UAV deviates from the path, e.g. because theUAV has been compromised. In response to determining that the UAV hasdeviated from the path (i.e., determination block 438=“Yes”), theprocessor may generate an indication that the UAV has deviated from thepath in block 440. In some implementations, the indication that the UAVhas deviated from the path may be sufficient that the authorizationthreshold may be determined block 444 based on such determination alone.

In response to determining that the UAV has not deviated from the path(i.e., determination block 438=“No”), the processor may generate anappropriate indication in block 442. In some implementations, theprocessor may determine that the deviation from the path meets athreshold deviation from a known or commonly traveled path. In someimplementations, the indication that the UAV has deviated from the pathmay be sufficient that the authorization threshold may be determined inblock 444 based on such determination alone, particularly in combinationwith other determinations that have been made available.

In block 444, based on one or more determinations based on the receivedsensor data, the processor of the UAV may determine the authorizationthreshold. The determined authorization threshold may then be applied inblock 308 of the method 300 as described with reference to FIG. 3.

Thus, various embodiments and implementations may improve the operationof a UAV by providing security to the UAV related to the detection andevaluation of objects that may be placed in or on the UAV. Variousimplementations improve the operation of the UAV by determining whetheran object in contact with the UAV is authorized. Various implementationsalso improve the operation of the UAV by dynamically determining anauthorization threshold for an object in contact with the UAV based onreal-time UAV sensor data.

Various implementations illustrated and described are provided merely asexamples to illustrate various features of the claims. However, featuresshown and described with respect to any given implementation are notnecessarily limited to the associated implementation and may be used orcombined with other implementations that are shown and described.Further, the claims are not intended to be limited by any one exampleimplementation. For example, one or more of the operations of the method300 may be substituted or combined with one or more operations of themethod 400 and vice versa.

The foregoing method descriptions and the process flow diagrams areprovided merely as illustrative examples and are not intended to requireor imply that the blocks of various implementations must be performed inthe order presented. As will be appreciated by one of skill in the artthe order of blocks in the foregoing implementations may be performed inany order. Words such as “thereafter,” “then,” “next,” etc. are notintended to limit the order of the blocks; these words are simply usedto guide the reader through the description of the methods. Further, anyreference to claim elements in the singular, for example, using thearticles “a,” “an” or “the” is not to be construed as limiting theelement to the singular.

The various illustrative logical blocks, modules, circuits, andalgorithm blocks described in connection with the implementationsdisclosed herein may be implemented as electronic hardware, computersoftware, or combinations of both. To clearly illustrate thisinterchangeability of hardware and software, various illustrativecomponents, blocks, modules, circuits, and blocks have been describedabove generally in terms of their functionality. Whether suchfunctionality is implemented as hardware or software depends upon theparticular application and design constraints imposed on the overallsystem. Skilled artisans may implement the described functionality invarying ways for each particular application, but such implementationdecisions should not be interpreted as causing a departure from thescope of various implementations.

The hardware used to implement the various illustrative logics, logicalblocks, modules, and circuits described in connection with theimplementations disclosed herein may be implemented or performed with ageneral-purpose processor, a digital signal processor (DSP), anapplication specific integrated circuit (ASIC), a field programmablegate array (FPGA) or other programmable logic device, discrete gate ortransistor logic, discrete hardware components, or any combinationthereof designed to perform the functions described herein. Ageneral-purpose processor may be a microprocessor, but, in thealternative, the processor may be any conventional processor,controller, microcontroller, or state machine. A processor may also beimplemented as a combination of communication devices, e.g., acombination of a DSP and a microprocessor, a plurality ofmicroprocessors, one or more microprocessors in conjunction with a DSPcore, or any other such configuration. Alternatively, some blocks ormethods may be performed by circuitry that is specific to a givenfunction.

In various implementations, the functions described may be implementedin hardware, software, firmware, or any combination thereof. Ifimplemented in software, the functions may be stored as one or moreinstructions or code on a non-transitory computer-readable medium ornon-transitory processor-readable medium. The operations of a method oralgorithm disclosed herein may be embodied in a processor-executablesoftware module, which may reside on a non-transitory computer-readableor processor-readable storage medium. Non-transitory computer-readableor processor-readable storage media may be any storage media that may beaccessed by a computer or a processor. By way of example but notlimitation, such non-transitory computer-readable or processor-readablemedia may include RAM, ROM, EEPROM, FLASH memory, CD-ROM or otheroptical disk storage, magnetic disk storage or other magnetic storagedevices, or any other medium that may be used to store desired programcode in the form of instructions or data structures and that may beaccessed by a computer. Disk and disc, as used herein, includes compactdisc (CD), laser disc, optical disc, digital versatile disc (DVD),floppy disk, and Blu-ray disc where disks usually reproduce datamagnetically, while discs reproduce data optically with lasers.Combinations of the above are also included within the scope ofnon-transitory computer-readable and processor-readable media.Additionally, the operations of a method or algorithm may reside as oneor any combination or set of codes and/or instructions on anon-transitory processor-readable medium and/or computer-readablemedium, which may be incorporated into a computer program product.

The preceding description of the disclosed implementations is providedto enable any person skilled in the art to make or use the presentimplementations. Various modifications to these implementations will bereadily apparent to those skilled in the art, and the generic principlesdefined herein may be applied to other implementations without departingfrom the scope of the implementations. Thus, various implementations arenot intended to be limited to the implementations shown herein but areto be accorded the widest scope consistent with the following claims andthe principles and novel features disclosed herein.

1. A method of providing security for an unmanned autonomous vehicle(UAV), comprising: receiving sensor data from a plurality of UAV sensorsabout at least one physical characteristic of a cargo object in contactwith the UAV; determining an authorization threshold for the cargoobject based on the received sensor data, wherein the authorizationthreshold is adjusted based on the at least one physical characteristicof the cargo object; and determining whether the cargo object isauthorized based on the received sensor data and the determinedauthorization threshold.
 2. The method of claim 1, wherein determiningthe authorization threshold for the cargo object based on the receivedsensor data comprises: determining whether the cargo object is arecognized object; and determining the authorization threshold for thecargo object based on whether the cargo object is a recognized object.3. The method of claim 1, wherein determining the authorizationthreshold for the cargo object based on the received sensor datacomprises: determining whether the cargo object is a previouslyauthorized object; and determining the authorization threshold for thecargo object based on whether the cargo object is a previouslyauthorized object.
 4. The method of claim 1, wherein determining theauthorization threshold for the cargo object based on the receivedsensor data comprises: determining whether a person in the UAV is aknown person; and determining the authorization threshold for the cargoobject based on whether the person in the UAV is a known person.
 5. Themethod of claim 1, wherein determining the authorization threshold forthe cargo object based on the received sensor data comprises:determining whether a person in the UAV is an alive, willing, andconscious person; and determining the authorization threshold for thecargo object based on whether the person in the UAV is an alive,willing, and conscious person.
 6. The method of claim 1, whereindetermining the authorization threshold for the cargo object based onthe received sensor data comprises: determining whether a person in theUAV is in an unusual position; and determining the authorizationthreshold for the cargo object based on whether the person in the UAV isin an unusual position.
 7. The method of claim 1, wherein determiningthe authorization threshold for the cargo object based on the receivedsensor data comprises: determining whether the UAV is traveling a knownpath; and determining the authorization threshold for the cargo objectbased on whether the UAV is traveling the known path.
 8. The method ofclaim 1, wherein determining the authorization threshold for the cargoobject based on the received sensor data comprises: determining whetherthe UAV deviates from a path; and determining the authorizationthreshold for the cargo object based on whether the UAV deviates fromthe path.
 9. The method of claim 1, further comprising: storinginformation about the cargo object in response to determining that thecargo object is authorized.
 10. The method of claim 1, furthercomprising: generating an indication that the cargo object isunauthorized in response to determining that the cargo object is notauthorized.
 11. The method of claim 1, further comprising: determiningan action to perform when the cargo object is not authorized; andperforming the determined action.
 12. The method of claim 11, furthercomprising: determining whether an authorization of an unauthorizedcargo object is received; and determining the action to perform inresponse to determining that the authorization of the unauthorized cargoobject is not received.
 13. An unmanned autonomous vehicle (UAV),comprising: a plurality of sensors; and a processor coupled to theplurality of sensors and configured with processor-executableinstructions to perform operations comprising: receiving sensor datafrom the plurality of sensors about at least one physical characteristicof a cargo object in contact with the UAV; determining an authorizationthreshold for the cargo object based on the received sensor data,wherein the authorization threshold is adjusted based on the at leastone physical characteristic of the cargo object; and determining whetherthe cargo object is authorized based on the received sensor data and thedetermined authorization threshold.
 14. The UAV of claim 13, wherein theprocessor is configured with processor-executable instructions toperform operations such that determining the authorization threshold forthe cargo object based on the received sensor data comprises:determining whether the cargo object is a recognized object; anddetermining the authorization threshold for the cargo object based onwhether the cargo object is a recognized object.
 15. The UAV of claim13, wherein the processor is configured with processor-executableinstructions to perform operations such that determining theauthorization threshold based on the received sensor data comprises:determining whether the cargo object is a previously authorized object;and determining the authorization threshold based on whether the cargoobject is a previously authorized object.
 16. The UAV of claim 13,wherein the processor is configured with processor-executableinstructions to perform operations such that determining theauthorization threshold for the cargo object based on the receivedsensor data comprises: determining whether a person in the UAV is aknown person; and determining the authorization threshold for the cargoobject based on whether the person in the UAV is a known person.
 17. TheUAV of claim 13, wherein the processor is configured withprocessor-executable instructions to perform operations such thatdetermining the authorization threshold for the cargo object based onthe received sensor data comprises: determining whether a person in theUAV is an alive, willing, and conscious person; and determining theauthorization threshold for the cargo object based on whether the personin the UAV is an alive, willing, and conscious person.
 18. The UAV ofclaim 13, wherein the processor is configured with processor-executableinstructions to perform operations such that determining theauthorization threshold for the cargo object based on the receivedsensor data comprises: determining whether a person in the UAV is in anunusual position; and determining the authorization threshold for thecargo object based on whether the person in the UAV is in an unusualposition.
 19. The UAV of claim 13, wherein the processor is configuredwith processor-executable instructions to perform operations such thatdetermining the authorization threshold for the cargo object based onthe received sensor data comprises: determining whether the UAV istraveling a known path; and determining the authorization threshold forthe cargo object based on whether the UAV is traveling the known path.20. The UAV of claim 13, wherein the processor is configured withprocessor-executable instructions to perform operations such thatdetermining the authorization threshold for the cargo object based onthe received sensor data comprises: determining whether the UAV deviatesfrom a path; and determining the authorization threshold for the cargoobject based on whether the UAV deviates from the path.
 21. The UAV ofclaim 13, wherein the processor is configured with processor-executableinstructions to perform operations further comprising: storinginformation about the cargo object in response to determining that thecargo object is authorized.
 22. The UAV of claim 13, wherein theprocessor is configured with processor-executable instructions toperform operations further comprising: generating an indication that thecargo object is unauthorized in response to determining that the cargoobject is not authorized.
 23. The UAV of claim 13, wherein the processoris configured with processor-executable instructions to performoperations further comprising: determining an action to perform when thecargo object is not authorized; and performing the determined action.24. The UAV of claim 23, wherein the processor is configured withprocessor-executable instructions to perform operations furthercomprising: determining whether an authorization of an unauthorizedcargo object is received; and determining the action to perform inresponse to determining that the authorization of the unauthorized cargoobject is not received.
 25. A non-transitory processor-readable storagemedium having stored thereon processor-executable instructionsconfigured to cause a processor of an unmanned autonomous vehicle (UAV)to perform operations for providing security comprising: receivingsensor data from a plurality of UAV sensors about at least one physicalcharacteristic of a cargo object in contact with the UAV; determining anauthorization threshold for the cargo object based on the receivedsensor data, wherein the authorization threshold is adjusted based onthe at least one physical characteristic of the cargo object; anddetermining whether the cargo object is authorized based on the receivedsensor data and the determined authorization threshold.
 26. Thenon-transitory processor-readable storage medium of claim 25, whereinthe stored processor-executable instructions are configured to cause theprocessor of the UAV to perform operations such that determining theauthorization threshold for the cargo object based on the receivedsensor data comprises: determining whether the cargo object is arecognized object; and determining the authorization threshold for thecargo object based on whether the cargo object is a recognized object.27. The non-transitory processor-readable storage medium of claim 25,wherein the stored processor-executable instructions are configured tocause the processor of the UAV to perform operations such thatdetermining the authorization threshold for the cargo object based onthe received sensor data comprises: determining whether the cargo objectis a previously authorized object; and determining the authorizationthreshold for the cargo object based on whether the object is apreviously authorized object.
 28. The non-transitory processor-readablestorage medium of claim 25, wherein the stored processor-executableinstructions are configured to cause the processor of the UAV to performoperations such that determining the authorization threshold for thecargo object based on the received sensor data comprises: determiningwhether a person in the UAV is a known person; and determining theauthorization threshold for the cargo object based on whether the personin the UAV is a known person.
 29. The non-transitory processor-readablestorage medium of claim 25, wherein the stored processor-executableinstructions are configured to cause the processor of the UAV to performoperations such that determining the authorization threshold for thecargo object based on the received sensor data comprises: determiningwhether a person in the UAV is an alive, willing, and conscious person;and determining the authorization threshold for the cargo object basedon whether the person in the UAV is an alive, willing, and consciousperson.
 30. An unmanned autonomous vehicle (UAV), comprising: means forreceiving sensor data from a plurality of UAV sensors about at least onephysical characteristic of a cargo object in contact with the UAV; meansfor determining an authorization threshold for the cargo object based onreceived sensor data, wherein the authorization threshold is adjustedbased on the at least one physical characteristic of the cargo object;and means for determining whether the cargo object is authorized basedon the received sensor data and the determined authorization threshold.